Topic#6 Time Domain Analysis

Faculty of Engineering
Computer and Systems Engineering Department
CSE 371: Control Engineering
Topic#6
Time Domain Analysis
Prof. Wahied Gharieb Ali
TOPICS
• Definitions
• Steady State Error for Unity Feedback Systems
• Transient Response of First Order Systems
• Transient Response of Second Order Systems
• Examples
2
Definitions
Transient response and Steady state Response
Input r(t) Output y(t)

System
y(t) = transient response + steady state response

y(t) = yt(t) + y ss(t)
The transient response is the part of the time response that goes to zero as
time becomes very large :
limt yt(t)=0
3
Definitions
The steady state response is simply the part of the total response that
remains after the transient has died out (by steady state response, we mean
the manner in which the system output behaves as t approaches infinity)
Steady state Error
One of the objectives of most control systems is that the system output
response follows a specific reference signal accurately in the steady state.
The difference between the output and the reference is the steady state is
defined as the steady state error. Let’s define the error as e(t)= r(t) – y(t)
4
Steady State Error for Unity Feedback Systems
Let’s consider the reference signal as r(t). For the unity feed back, we
have : e(t) = r(t) - y(t)
r(t) e(t) y(t)
+
G(s)
The steady state error is defined as: ess = limt e(t)

Note that Y(s)/R(s)= G(s)/1+G(s) Y(s) = G(s)E(s)
 E(s) = R(s)/1+G(s)
Therefore, we can write the steady state error for the system with
unity feedback as :
ess = limt e(t)
= limS0 SE(s) (using the final value Theorem)
= limS0 SR(s)/1+G(S)
5
The above equation shows that ess depends on G(s) and R(s). In
fact, ess actually depends on the number of poles of G(s) at s=0.
The number of poles of G(s) at S=0 is called system type.
Examples
G(s)= K(s+3)/(s+1)(S+5) Type 0 (no poles at s = 0)
G(s)= K/s(s+6) Type 1 (1 pole at s = 0)
G(s)= (1+2s)/s2(s+3) Type 2 (2 poles at s = 0)
6
Step Function Input
When the input r(t) is a step function with magnitude R, R(s)= R/s.
Then, ess is given by:

ess = limS0 SR(s)/1+G(S)
= limS0 R/1+G(S)
= R/(1+ limS0 G(S))
If we define Kp= limS0 G(S) as the step constant error, then:
ess = R/(1+ Kp)

7
ess=R/1+Kp
y(t)
t
0
ess = 0  Kp =
 limS0 G(S) =
 G(s) must have at least one pole at zero
 G(s) must be of type 1 at least
8
Ramp Function Input
ess=R/Kv
r(t)
y(t)
t
0
9
10
Summary
Error Constant
Type of System Kp Kv Step Input Ramp
Input
0 K 0 R/1+k 
1  K 0 R/K
2   0 0
3   0 0
Note
 The steady state error properties are only for unity feedback
 Since the error analysis relies on the use of the final value theorem of
the Laplace transform, it is important first to see if sE(s) has only poles on
the j axis or in the right-half s-plane.
11
Example 1 Consider the following control system where
r(t)
+ e(t) y(t) 2( s  1)
Gp(s) H(s) Gp( s ) 
( s  2)( s  3)
-
100( s  1)
H (s) 
( s  4)
Find the steady state error when r(t) is a unit step

200( s  1) 2
G ( s )  Gp( s ).H ( s ) 
( s  2)( s  3)( s  4)
The step constant error Kp = G(0)=200/24= 8.33
ess = 1/1+Kp = 1/9.33 = 0.107
Find the steady state error when r(t) is a ramp
The ramp constant error Kv = limS0 sG(s) = 0
(The system is of type 0) or the velocity error
ess = 1/Kv = 
12
Example 2
1 50
Kp  lim G s  ess  G s  
s 0
1  Kp
1  0.1s 1  2s 
1
Kv  lim sG s  ess 
s 0
Kv
for unit step input

Kp = 50, ess = 1/51
for unit ramp input
Kv = 0, ess =
Type 0 system:
• Can only follow unit step input with finite error at steady state
• Can not follow ramp input at steady state.
13
Example 3
1 K
Kp  lim G s  ess  G(s) 
s 0
1  Kp
s(s 2  4s  200)
1
Kv  lim sG s  ess 
s 0
Kv
for unit step input
Kp = , ess = 0
for unit ramp input
Kv = K/200, ess =200/K

Type 1 system:
• Can follow unit step input with zero error at steady state
• Can follow unit ramp input at steady state
14
Example 4 K
G(s) 
s 2 ( s  12)
The closed loop system is given by : G/1+G

The C.E : s2(s+12) + K = s3 +12s2 + K
s3 1 0
s2 12 K
s1 -K
s0 K
The system is unstable  Can not have steady state error analysis
15
16
17
Transient Response For First order Systems
 General form:
C (s) K
G (s)  
R ( s ) s  1
 Example RC circuit
1
G (s) 
RCs  1
18
 Transient Response: Gradual change of output from initial to the

desired condition.
 Block diagram representation:
K Where,
R(s) C(s) K : Gain
s  1  : Time constant
 By definition itself, the input to the system should be a step

function which is given by the following:
1
R( s) 
s
19
 General form:
C (s) K
G (s)   C ( s)  G ( s) R( s)
R ( s ) s  1
 Output response:
 1  K 
C ( s )    
 s  s  1 
A B
 
s s  1
B
c(t )  A  e t   K (1  e t  )

20
Settling time = 4
At 0.98 steady state output
21
Transient Response for Second Order Systems
Consider a unit step response y(t) for a second order system with stable
complex poles.
y(t)
MP
1.05
1.00
0.95
0.90
Delay time
td
0.50
0.10
0
t
Rise time tmax
tr
Settling time ts
22
Transient Response for a Second Order System
1. Maximum Overshoot Mp: Let ymax denotes the maximum value of y(t)
and yss=y() be the steady state value of y(t) , Mp =ymax –y()
The Maximum Overshoot Mp is often represented as percentage of the

final value of the step response; that is:
MP
M P (%)  x100
y ( )
The Maximum Overshoot measure the relative stability of a control

system. A system with a large overshoot is usually undesirable.
23
2. Delay time td: The delay time td is defined as the time

required for the step response to reach 50% of its final value.
3. Rise time tr: The rise time tr is defined as the time required
for the step response to rise from 10% to 90% of its final
value.
4. Settling time ts: The settling time ts is defined as the time

required for the step response to decrease and stay within a
specified percentage of its final value (usually 5%).
24
Consider an open loop transfer function:
Y ( s) 2
G(s)   n
E ( s) s(s  2 n )
r(t) e(t) y(t)

Where  and n are real constants:
+
G(s)
The closed-loop transfer function of the system is :

2
Y ( s) 
 n
R( s ) s 2  2 n s   2
n
25
The characteristic equation of the closed-loop system is

obtained by setting the denominator of its transfer function
equal to zero:
It is important to study the relationship between the roots of

the CE and the behavior of the step response
s1 , s2   n  j n 1 2    j
For a unit-step function input R(s)=1/s,
2
Y (s)  n
s[s 2  2 n s   2 ] n
26
Using the Laplace transform table, we get :
e t
y( t )  1  sin( n 1   2 t  cos 1  )
1 2
e t
y( t )  1  sin(t  cos 1  )
 / n
Effect of : is called the damping ratio

If =0 , :
s1 , s 2   n  j n 1 2   j n
The response is called undamped response or zero damping response
j
y(t)

0 1
=0 t
0
27

e t
y( t )  1  sin( n 1   2 t  cos 1  )
1 2
: , If <1 s1 , s2   n  j n 1 2
j y(t)
 1
0
t
0
<1<0
Under-damping response
28

e t
y( t )  1  sin( n 1   2 t  cos 1  )
1 2
: , If =1 s1 , s2   n  j n 1 2   n
y(t)
j
1

0
t
=1 0
Critical damping
29

e t
y( t )  1  sin( n 1   2 t  cos 1  )
1 2
If >1 , : s1 , s2   n  n  2 1
y(t)
j
1
The response is called over- 0


t
damped (two real roots) >1
0
Other cases
y(t) j y(t)
j
1 1

 0
0
t t
0 <-1 0
0>>-1
30
Effect of 
 Note that two 2nd-order
systems having the same
 but different 0 will
exhibit the same
overshoot and the same
oscillatory pattern.
 An underdamped system
with 0.5 < ζ <0.8 gets
close to the final value
more rapidly than a
critically damped or
overdamped system.
31
Effect of n : Let n is the Natural Undamped Frequency . It defines the
frequency when the damping ratio =0
  n 1 2
Since 0, we define  as the conditional frequency or the damped frequency
Relationship between the C.E. roots and , , n, 
s1 , s2   n  j n 1 2    j
 is the real part of the roots,  is the imaginary part of the roots and  is the
damping ratio j
Root
n
  n 1 2
  cos 


n
32
Maximum Overshoot
e  n t
y( t )  1  sin 
 n 1  2t  

:The unit step response is given by 1 2  
dy/dt=0
To take the maximum overshoot, we take the derivative of y(t)
:and set it equal to zero dy ( t )  0
dt y(t)
e  n t
y( t )  1  sin t   
2
1 
t
0 tmax
dy( t ) e  n t 
 n  sin t     1   2 cost    t 0
dt 2  

1
When :   1 2
n The term inside the brackets can be simplified to sint
using cos and sin(a-b)=sin a cos b-cos a sin b(
33
Maximum Overshoot
dy ( t ) e  n t   
 n sin  n 1  2t 
  0 t 0
dt 2   
1
t   or  n 1   2 t  n , n  0,1,2....
n
t  , n  0,1,2....
2
n 1  
From the previous figure, the maximum overshoot occurs at the first oscillation; i.e. n=1
 
t max  
d n 1   2
If we replace t in the equation of y(t), we get the maximum overshoot Mp

 / 1 2
M p  ymax  1  e  / 1 2
M p (%)  100e
34
Rise Time
The rise time is the time for y(t) to reach from 10% to 90% of its final value is
: given by
  d
tr  ;   tan -1 ( ) ;   n
d 
Settling Time
The settling time is the time when the output y(t) decreases and stay within the
:error criterion and is given by
3 4
ts  (5% criterion) ts  ( 2% criterion)
n n
35
Examples
Example1 : Consider the following feedback system and the location of its closed-loop poles.
j
Root
R(s) + Ys)
a/s(s+2) n
-
1+bs 

Given =60 and the settling time ts=2s find , n, a and b.
3 3
ts   n   3 rad / sec
  cos   cos 60  0.5 n t s
2
Y ( s) a 
  n
2
R( s ) s  ( 2  ab)s  a s  2 n s   2
2
n
a   n2  9 b
2n  2
 1/ 9
a
36
Examples
Example2 : Consider a unity feedback system having the transfer function G(s)= K/s(Ts+1).
.The system is subjected to a unit-step input
Determine the values of K and T from the output response curve shown in the following .1
.figure
.Find the rise time and the settling time .2
y(t)
0.254
1
y(t)
t
0 3
37
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38

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Faculty of Engineering

Computer and Systems Engineering Department

CSE 371: Control Engineering

• Steady State Error for Unity Feedback Systems

• Transient Response of First Order Systems

• Transient Response of Second Order Systems

Transient response and Steady state Response

Input r(t) Output y(t)

y(t) = transient response + steady state response

Steady state Error

The steady state error is defined as: ess = limt e(t)

G(s)= K(s+3)/(s+1)(S+5) Type 0 (no poles at s = 0)

G(s)= K/s(s+6) Type 1 (1 pole at s = 0)

G(s)= (1+2s)/s2(s+3) Type 2 (2 poles at s = 0)

Step Function Input

Then, ess is given by:

If we define Kp= limS0 G(S) as the step constant error, then:

ess = R/(1+ Kp)

Ramp Function Input

Find the steady state error when r(t) is a unit step

for unit step input

for unit ramp input

Kv = K/200, ess =200/K

The closed loop system is given by : G/1+G

 Transient Response: Gradual change of output from initial to the

 By definition itself, the input to the system should be a step

Settling time = 4

At 0.98 steady state output

The Maximum Overshoot Mp is often represented as percentage of the

The Maximum Overshoot measure the relative stability of a control

2. Delay time td: The delay time td is defined as the time

4. Settling time ts: The settling time ts is defined as the time

Consider an open loop transfer function:

r(t) e(t) y(t)

The closed-loop transfer function of the system is :

The characteristic equation of the closed-loop system is

It is important to study the relationship between the roots of

For a unit-step function input R(s)=1/s,

Effect of : is called the damping ratio

Effect of : is called the damping ratio

: , If <1 s1 , s2   n  j n 1 2

Effect of : is called the damping ratio

: , If =1 s1 , s2   n  j n 1 2   n

Effect of : is called the damping ratio

The response is called over- 0

If we replace t in the equation of y(t), we get the maximum overshoot Mp

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